基于柔性关节的下肢康复机器人设计与分析

结合国内外现有的下肢康复产品及研究成果，研制了具有柔性关节的坐/卧式下肢康复机器人，采用摄像分析法进行步态分析，并对下肢康复机器人进行了动力学建模、分析及仿真.研究表明，下肢康复机器人对脑卒中患者的康复训练、脊髓损伤和截瘫、骨折患者的重新行走均能起到辅助作用，实现患者恒力恒速运动. 

Design and Research of Lower Limb Rehabilitation Robot Based on Flexible Joint

Considering the achievement of the existing lower limb rehabilitation products, a sitting/horizontal lower limb rehabilitation robot with flexible joints was developed. A camera shooting instrumental analysis method was used to implement the gait analysis. And then, several procedures were carried out for the lower limb rehabilitation robot, including dynamics modeling, function analysis and simulation. The research results show that the lower limb rehabilitation robot can play a huge auxiliary role in the rehabilitation training for the stroke patients, spinal cord injury, paraplegia, and rewalking of fracture patients, and can make the patients move in a constant force and speed.